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Revert "bltouch: No need to pause the toolhead for PWM off commands" 

This reverts commit 5c8d15bbee.

The lower_probe() code was already manually optimizing the timing of
the pwm disable, and that conflicted with the optimization in commit
5c8d15bb.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-04-04 18:51:41 -04:00
parent 0342c50033
commit a028aeaf78
1 changed files with 4 additions and 6 deletions
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10
klippy/extras/bltouch.py
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@ -36,7 +36,7 @@ class BLTouchEndstopWrapper:
self.mcu_pwm = ppins.setup_pin('pwm', config.get('control_pin')) self.mcu_pwm = ppins.setup_pin('pwm', config.get('control_pin'))
self.mcu_pwm.setup_max_duration(0.) self.mcu_pwm.setup_max_duration(0.)
self.mcu_pwm.setup_cycle_time(SIGNAL_PERIOD) self.mcu_pwm.setup_cycle_time(SIGNAL_PERIOD)
self.next_cmd_time = self.action_end_time = 0. self.next_cmd_time = 0.
# Create an "endstop" object to handle the sensor pin # Create an "endstop" object to handle the sensor pin
pin = config.get('sensor_pin') pin = config.get('sensor_pin')
pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True) pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True)
@ -89,10 +89,10 @@ class BLTouchEndstopWrapper:
def sync_print_time(self): def sync_print_time(self):
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time() print_time = toolhead.get_last_move_time()
if print_time > self.next_cmd_time: if self.next_cmd_time > print_time:
toolhead.dwell(self.next_cmd_time - print_time)
else:
self.next_cmd_time = print_time self.next_cmd_time = print_time
elif self.action_end_time > print_time:
toolhead.dwell(self.action_end_time - print_time)
def send_cmd(self, cmd, duration=MIN_CMD_TIME): def send_cmd(self, cmd, duration=MIN_CMD_TIME):
self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD) self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD)
# Translate duration to ticks to avoid any secondary mcu clock skew # Translate duration to ticks to avoid any secondary mcu clock skew
@ -100,8 +100,6 @@ class BLTouchEndstopWrapper:
cmd_clock = mcu.print_time_to_clock(self.next_cmd_time) cmd_clock = mcu.print_time_to_clock(self.next_cmd_time)
cmd_clock += mcu.seconds_to_clock(max(duration, MIN_CMD_TIME)) cmd_clock += mcu.seconds_to_clock(max(duration, MIN_CMD_TIME))
self.next_cmd_time = mcu.clock_to_print_time(cmd_clock) self.next_cmd_time = mcu.clock_to_print_time(cmd_clock)
if cmd is not None:
self.action_end_time = self.next_cmd_time
return self.next_cmd_time return self.next_cmd_time
def verify_state(self, check_start_time, check_end_time, triggered): def verify_state(self, check_start_time, check_end_time, triggered):
# Perform endstop check to verify bltouch reports desired state # Perform endstop check to verify bltouch reports desired state